Fast path planning for precision weeding

Lee, JJH; Frey, K; Fitch, R; Sukkarieh, S

Fast path planning for precision weeding

Lee, JJH Frey, K Fitch, R

Sukkarieh, S

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Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation, ACRA, 2014, 02-04-December-2014
Issue Date:: 2014-01-01

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Field	Value	Language
dc.contributor.author	Lee, JJH	en_US
dc.contributor.author	Frey, K	en_US
dc.contributor.author	Fitch, R https://orcid.org/0000-0003-2215-5188	en_US
dc.contributor.author	Sukkarieh, S	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	Australasian Conference on Robotics and Automation, ACRA, 2014, 02-04-December-2014	en_US
dc.identifier.isbn	9780980740448	en_US
dc.identifier.issn	1448-2053	en_US
dc.identifier.uri	http://hdl.handle.net/10453/106135
dc.description.abstract	Agricultural robots have the potential to reduce herbicide use in agriculture and horticulture through autonomous precision weeding. One of the main challenges is how to efficiently plan paths for a robot arm such that many individual weeds can be processed quickly. This paper considers an abstract weeding task among obstacles and proposes an efficient online path planning algorithm for an industrial manipulator mounted to a mobile robot chassis. The algorithm is based on a multi-query approach, inspired by industrial bin-picking, where a database of high-quality paths is computed offline and paths are then selected and adapted online. We present a preliminary implementation using a 6-DOF arm and report results from simulation experiments designed to evaluate system performance with varying database and obstacle sizes. We also validate the approach using a Universal Robots UR5 manipulator and ROS interface.	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation, ACRA	en_US
dc.title	Fast path planning for precision weeding	en_US
dc.type	Conference Proceeding
utslib.citation.volume	02-04-December-2014	en_US
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	02-04-December-2014	en_US

Abstract:

Agricultural robots have the potential to reduce herbicide use in agriculture and horticulture through autonomous precision weeding. One of the main challenges is how to efficiently plan paths for a robot arm such that many individual weeds can be processed quickly. This paper considers an abstract weeding task among obstacles and proposes an efficient online path planning algorithm for an industrial manipulator mounted to a mobile robot chassis. The algorithm is based on a multi-query approach, inspired by industrial bin-picking, where a database of high-quality paths is computed offline and paths are then selected and adapted online. We present a preliminary implementation using a 6-DOF arm and report results from simulation experiments designed to evaluate system performance with varying database and obstacle sizes. We also validate the approach using a Universal Robots UR5 manipulator and ROS interface.

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http://hdl.handle.net/10453/106135